Abstract
In this study, we propose a suspension system that can be attached to Segway and a velocity controller to control the slip generated during driving. Segway has undergone many years of development and research, but it still lacks research on safety devices and controllers. In order to solve these problems, the suspension device used in the automobile is attached to improve the stability of the user. Four suspension are attached to the Segway to suppress the shaking and impact that occur during driving. In order to design the speed controller for precise control during turning, the appropriate slip ratio is derived using Magic Formula. The actual slip ratio value at the time of turning is calculated and the velocity is controlled by comparing with the target slip ratio. By using such an algorithm, it is possible to turn to a desired target path by suppressing slippage occurring of turning.
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Acknowledgment
This material is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. G01201605010048 ‘40 km/h of balancing robot with active suspension’.
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Bang, Ju., Yoon, Hn., Kim, Jh., Lee, Jm. (2019). Improved Driving Stability with Series Elastic Actuator and Velocity Controller. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_31
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DOI: https://doi.org/10.1007/978-3-030-27541-9_31
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